[Question] Option to customize QoS per topic

[ruimscarvalho98]

Hey Guys!

Just wanted to ask if there are any plans to add the option to customize the QoS of the bridge topics or in the upcoming transition to XRCE-DDS?

We have been changing the QoS by modifying the generated .cpp directly but having a way to do this programatically I think would be a nice-to-have feature. Something like this:

rtps:
  - msg: DebugArray
    receive: true
    qos: CustomProfile

where the CustomProfile could be defined in a .xml file or similar. Another way would be to take a similar approach to the QoS override in rosbag2.